#include "commander.h"

// #define BUFF_MAX_LEN    (256)
// static quint8 s_buff[BUFF_MAX_LEN] = {0};

static void changeIntEndian(quint32* n1)
{
    for (int i = 0; i < 2; ++i) {

        quint8 u8Tmp = *((unsigned char*)(n1) + i);
        *((unsigned char*)(n1) + i) = *((unsigned char*)(n1) + 3 - i);
        *((unsigned char*)(n1) + 3 - i) = u8Tmp;
    }
}

void Commander::setCurrent(int n)
{
    m_nParam = n;
    CmdSetCurrent();
}

void Commander::setRepos()
{
    CmdSetRePose();
}

void Commander::spinBack45()
{
    int nPos2 = m_nPos - 45;
    changeIntEndian((quint32*)&nPos2);
    quint8 cmd[23] = {0};
    cmd[0] = 3;
    cmd[1] = 3;
    cmd[2] = 3;
    cmd[3] = 3;
    cmd[4] = 2;
    cmd[5] = 1;
    memcpy(cmd + 6, &nPos2, 4);
    cmd[10] = 0x33;
    cmd[11] = 0x33;
    cmd[12] = 0x33;
    cmd[13] = 0x33;
    cmd[14] = 0x33;
    cal_CRC(cmd, 15);

    memcpy(m_buff, cmd, 17);
}

void Commander::spin45()
{
    int nPos2 = m_nPos + 45;
    changeIntEndian((quint32*)&nPos2);
    quint8 cmd[23] = {0};
    cmd[0] = 3;
    cmd[1] = 3;
    cmd[2] = 3;
    cmd[3] = 3;
    cmd[4] = 2;
    cmd[5] = 1;
    memcpy(cmd + 6, &nPos2, 4);
    cmd[10] = 0x33;
    cmd[11] = 0x33;
    cmd[12] = 0x33;
    cmd[13] = 0x33;
    cmd[14] = 0x33;
    cal_CRC(cmd, 15);

    memcpy(m_buff, cmd, 17);
}

void Commander::CmdSetCurrent()
{
    qDebug() << __FUNCTION__;
    quint8 cmd[17] = {0x3, 0x3, 0x3, 0x3,
                      0x2, 0x3, 0x0, 0x0, 0x0, 0x0,
                      0x33, 0x33, 0x33, 0x33, 0x33,
                      0x0, 0x0};

    changeIntEndian(&m_nParam);
    memcpy(cmd + 6, &m_nParam, 4);
    getCmd(cmd, 17);
    memcpy(&m_buff, cmd, 17);
}

void Commander::CmdSetRePose()
{
    quint8 cmd[17] = {0x3, 0x3, 0x3, 0x3,
                      0x1, 0x3, 0x0, 0x0, 0x0, 0x0,
                      0x33, 0x33, 0x33, 0x33, 0x33,
                      0x0, 0x0};
    getCmd(cmd, 17);

    memcpy(&m_buff, cmd, 17);
}

void Commander::judge(int nPos, int nI, int nV)
{
    if (nPos != m_nPos) {
        m_nPos = nPos;
        m_nSameCnt = 0;
        return;
    } else {
        m_nSameCnt++;
    }

    if (m_nSameCnt > 5 && abs(nI) > 100) {
        // turn back 45
        int nPos2 = m_nPos - 45;
        changeIntEndian((quint32*)&nPos2);
        quint8 cmd[23] = {0};
        cmd[0] = 3;
        cmd[1] = 3;
        cmd[2] = 3;
        cmd[3] = 3;
        cmd[4] = 2;
        cmd[5] = 1;
        memcpy(cmd + 6, &nPos2, 4);
        cmd[10] = 0x33;
        cmd[11] = 0x33;
        cmd[12] = 0x33;
        cmd[13] = 0x33;
        cmd[14] = 0x33;
        cal_CRC(cmd, 15);

        QByteArray ba((const char*)cmd, 23);
        emit sigJudge(ba);
    }
}

void Commander::getCmd(quint8* buffIn, quint8 bufLen)
{
    cal_CRC(buffIn, bufLen - 2);
}

int Commander::getCmd(const QString& strCmdName, quint8* cmd, int nParam)
{
    qDebug() << __FUNCTION__ << "cmdname: " << strCmdName << "  param: " << nParam;
    if ("setI" == strCmdName) {
        setCurrent(nParam);
    } else if ("repos" == strCmdName) {
        setRepos();
    } else if ("spinBack45" == strCmdName) {
        spinBack45();
    } else if ("spin45" == strCmdName) {
        spin45();
    } else if ("songkai" == strCmdName) {
        int nISongKai = nParam-50;
        if (nISongKai < 0)
        {
            nISongKai = 100;
        }
        nISongKai *= -1;
        setCurrent(nISongKai);
    } else if ("stop" == strCmdName) {
        setCurrent(0);
    }

    memcpy(cmd, m_buff, 17);
    // for (int i=0; i<17; ++i)
    //     {
    //         qDebug() << "setI:datat  " << QString::number(cmd[i], 16);
    //     }

    return 17;
}

int Commander::parseCmd(quint8* buff, quint8 bufLen)
{
    if (bufLen < 26) {
        return 0;
    }

    int nIndex = 0;

    while (buff[nIndex + 0] != 1 || buff[nIndex + 1] != 1 || buff[nIndex + 2] != 1 || buff[nIndex + 3] != 1) {
        nIndex++;
    }

    {
        quint8 nCrcH = buff[nIndex + 24];
        quint8 nCrcL = buff[nIndex + 25];
        quint16 nCrcGet = nCrcH;
        nCrcGet <<= 8;
        nCrcGet |= nCrcL;

        cal_CRC(buff + nIndex, 24);

        quint16 nCrcCal = buff[nIndex + 24];
        nCrcCal <<= 8;
        nCrcCal |= buff[nIndex + 25];

        if (nCrcGet == nCrcCal) {
            int n_pos, n_velocity, n_current, n_voltage;

            memcpy(&n_pos, buff + nIndex + 20, 4);
            changeIntEndian((quint32*)&n_pos);
            n_pos = n_pos * 360. / 65536.;

            qDebug() << "nPos: " << n_pos;

            memcpy(&n_velocity, buff + nIndex + 16, 4);
            changeIntEndian((quint32*)&n_velocity);
            n_velocity = n_velocity * 60. / 65536.;

            qDebug() << "n_velocity: " << n_velocity;

            memcpy(&n_current, buff + nIndex + 12, 4);
            changeIntEndian((quint32*)&n_current);
            m_current = n_current;

            qDebug() << "m_current: " << m_current;

            // judge(n_pos, m_current, n_velocity);
            m_nPos = n_pos;

            return nIndex + 26;
        } else {
            return nIndex;
        }
    }

    return 0;
}

void Commander::cal_CRC(unsigned char* strCRC, int dataLen)
{
    unsigned char auchCRCHi[256] = {
        0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
        0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
        0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01,
        0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
        0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81,
        0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
        0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01,
        0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
        0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
        0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
        0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01,
        0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
        0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
        0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
        0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01,
        0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
        0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
        0x40};
    unsigned char auchCRCLo[256] = {
        0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7, 0x05, 0xC5, 0xC4,
        0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09,
        0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD,
        0x1D, 0x1C, 0xDC, 0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3,
        0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32, 0x36, 0xF6, 0xF7,
        0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D, 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A,
        0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, 0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE,
        0x2E, 0x2F, 0xEF, 0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26,
        0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1, 0x63, 0xA3, 0xA2,
        0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4, 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F,
        0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB,
        0x7B, 0x7A, 0xBA, 0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5,
        0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0, 0x50, 0x90, 0x91,
        0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C,
        0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88,
        0x48, 0x49, 0x89, 0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C,
        0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83, 0x41, 0x81, 0x80,
        0x40};

    unsigned char uchCRCHi = 0xFF;
    unsigned char uchCRCLo = 0xFF;
    unsigned char uIndex;
    int ix = 0;
    for (int i = 0; i < dataLen; ++i) {
        uIndex = uchCRCLo ^ strCRC[ix];
        ix = ix + 1;
        uchCRCLo = uchCRCHi ^ auchCRCHi[uIndex];
        uchCRCHi = auchCRCLo[uIndex];
    }

    strCRC[dataLen] = uchCRCLo;
    strCRC[dataLen + 1] = uchCRCHi;
}
